Systems and methods for providing emergency alerts at emergency landing areas of unmanned aerial vehicles

ABSTRACT

In some embodiments, methods and systems are provided that provide for controlling unmanned aerial vehicles (UAVs) experiencing emergency landings and providing emergency alerts to the predicted emergency landing locations of the UAV. Each UAV includes sensors configured to detect at least one status input associated with the UAV during flight along its flight route. Each UAV analyzes the status inputs while in flight in order to predict an emergency landing location where the UAV would land if unable to fly due to an emergency condition. The UAV is configured to transmit an alert signal to electronic devices proximate the predicted emergency landing location to notify users of the electronic devices that the unmanned aerial vehicle is going to experience an emergency landing at the predicted emergency landing location.

RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/011,932, filed on Jun. 19, 2018, now U.S. Pat. No. 10,332,407, issuedon Jun. 25, 2019, which claims the benefit of U.S. ProvisionalApplication No. 62/529,653, filed Jul. 7, 2017, each of which isincorporated herein by reference in its entirety.

TECHNICAL FIELD

This disclosure relates generally to facilitating the landings ofunmanned aerial vehicles and, in particular, to providing emergencyalerts to computing devices and/or people proximate predicted emergencylanding locations of unmanned aerial vehicles.

BACKGROUND

Transporting products via unmanned aerial vehicles (UAVs) over populatedareas such as towns and cities requires UAV operators to consider therisks associated with unexpected malfunctions, in-air collisions, and/orother emergency events that may lead to emergency crash landings of theUAVs. Given that the UAVs, both when empty and when carrying cargo, canpresent a significant injury risk to people and animals on the ground aswell as a personal property risk to buildings and cars on the ground inthe event that the UAVs crash land, especially in a densely populatedarea such as a city, early warnings of such potential crash landings isdesirable.

BRIEF DESCRIPTION OF THE DRAWINGS

Disclosed herein are embodiments of systems, apparatuses, and methodspertaining to controlling an unmanned aerial vehicle experiencing anemergency landing and providing an emergency alert to an area proximatea predicted emergency landing location of the unmanned aerial vehicle.This description includes drawings, wherein:

FIG. 1 is a diagram of a system for controlling an unmanned aerialvehicle experiencing an emergency landing and providing an emergencyalert to an area proximate a predicted emergency landing location of theUAV in accordance with some embodiments;

FIG. 2 is a functional diagram of an exemplary computing device usablewith the system of FIG. 1 in accordance with some embodiments;

FIG. 3 comprises a block diagram of an unmanned aerial vehicle asconfigured in accordance with some embodiments; and

FIG. 4 is a flow chart diagram of a process of controlling an unmannedaerial vehicle experiencing an emergency landing and providing anemergency alert to an area proximate a predicted emergency landinglocation of the UAV in accordance with some embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not been drawn to scale. For example, the dimensions and/orrelative positioning of some of the elements in the figures may beexaggerated relative to other elements to help to improve understandingof various embodiments of the present invention. Also, common butwell-understood elements that are useful or necessary in a commerciallyfeasible embodiment are often not depicted in order to facilitate a lessobstructed view of these various embodiments of the present invention.Certain actions and/or steps may be described or depicted in aparticular order of occurrence while those skilled in the art willunderstand that such specificity with respect to sequence is notactually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” or similar language means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one embodiment of thepresent invention. Thus, appearances of the phrases “in one embodiment,”“in an embodiment,” and similar language throughout this specificationmay, but do not necessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems,apparatuses, and methods are provided for providing emergency warningsto computing devices and/or people located proximate a predictedemergency landing location of a UAV. In some embodiments, the UAVs areconfigured to send out an emergency signal to electronic devices in thearea after the UAV determines that an emergency landing becomesinevitable. In some embodiments, if the UAV is unable to transmit suchan emergency signal, a central computing device is configured totransmit such an emergency signal. The emergency signal may be in theform of an electronic message (e.g., text message), an audible alert(e.g., a siren), and/or a visual alert (e.g., a flare, alight-generating device, smoke-generating device, or the like).

In some embodiments, a system for controlling an unmanned aerial vehicleexperiencing an emergency landing and providing an emergency alert to anarea proximate a predicted emergency landing location of the unmannedaerial vehicle is provided. The system includes an unmanned aerialvehicle configured to transport at least one product to a deliverydestination via a flight route. The unmanned aerial vehicle includes atleast one sensor configured to detect and transmit over a network atleast one status input associated with the unmanned aerial vehicleduring flight along the flight route. The system also includes acomputing device including a processor-based control unit and configuredfor communication with the unmanned aerial vehicle over a network. Theunmanned aerial vehicle includes a processor-based control circuitconfigured to: determine, based on an analysis of the at least onestatus input, that the unmanned aerial vehicle is experiencing anemergency condition that requires an emergency landing of the unmannedaerial vehicle; analyze the at least one sensor input in order todetermine a predicted emergency landing location of the unmanned aerialvehicle; and transmit the predicted emergency landing location of theunmanned aerial vehicle to the computing device over the network. Theunmanned aerial vehicle is configured to transmit an alert signal toelectronic devices proximate the predicted emergency landing location tonotify users of the electronic devices that the unmanned aerial vehicleis going to experience an emergency landing at the predicted emergencylanding location. In response to a determination by the computing devicethat the unmanned aerial vehicle is unable to transmit the alert signal,the computing device is configured to transmit the alert signal toelectronic devices proximate the predicted emergency landing location tonotify users of the electronic devices that the unmanned aerial vehicleis going to experience an emergency landing at the predicted emergencylanding location.

In another embodiment, a method for controlling an unmanned aerialvehicle experiencing an emergency landing and providing an emergencyalert to an area proximate a predicted emergency landing location of theunmanned aerial vehicle includes: providing an unmanned aerial vehicleconfigured to transport at least one product to a delivery destinationvia a flight route, the unmanned aerial vehicle including at least onesensor configured to detect and transmit over a network at least onestatus input associated with the unmanned aerial vehicle during flightalong the flight route; providing a computing device including aprocessor-based control unit and configured for communication with theunmanned aerial vehicle over a network; determining, via the controlcircuit of the unmanned aerial vehicle and based on an analysis of theat least one status input, that the unmanned aerial vehicle isexperiencing an emergency condition that requires an emergency landingof the unmanned aerial vehicle; analyzing, via the control circuit ofthe unmanned aerial vehicle, the at least one sensor input received fromthe unmanned aerial vehicle in order to determine a predicted emergencylanding location of the unmanned aerial vehicle; transmitting thepredicted emergency landing location of the unmanned aerial vehicle tothe computing device over the network; transmitting, via the unmannedaerial vehicle, an alert signal to electronic devices proximate thepredicted emergency landing location to notify users of the electronicdevices that the unmanned aerial vehicle is going to experience anemergency landing at the predicted emergency landing location; andtransmitting, via the computing device and in response to adetermination by the computing device that the unmanned aerial vehicleis unable to transmit the alert signal, the alert signal to electronicdevices proximate the predicted emergency landing location to notifyusers of the electronic devices that the unmanned aerial vehicle isgoing to experience an emergency landing at the predicted emergencylanding location.

FIG. 1 shows an embodiment of a system 100 for controlling an unmannedaerial vehicle 110 experiencing an emergency landing and providing anemergency alert to an area proximate a predicted emergency landinglocation 125 of the UAV 110, such that electronic devices and/or peoplein the predicted emergency landing location 125 are warned that a UAV110 is going to experience an emergency landing in the predictedemergency landing location 125. It will be understood that the detailsof this example are intended to serve in an illustrative capacity andare not necessarily intended to suggest any limitations in regards tothe present teachings. In some aspects, the exemplary UAV 110 of FIG. 1is configured to transport one or more products 190 from one or more UAVdeployment stations 185 to one or more delivery destinations 180 via theflight route 120. In other aspects, the UAV 110 is configured to flyalong the flight route 120 from a UAV deployment station 185 to aproduct pick up location. In yet other aspects, the UAV 110 isconfigured to fly along the flight route 120 from a delivery destination180 or a product pick up location back to the UAV deployment station185.

A customer may be an individual or business entity. A deliverydestination 180 may be a home, work place, or another locationdesignated by the customer when placing the order. Exemplary products190 that may be ordered by the customer via the system 100 may include,but are not limited to, general-purpose consumer goods (retail productsand goods not for sale) and consumable products (e.g., food items,medications, or the like). A UAV deployment station 185 can be mobile(e.g., vehicle-mounted) or stationary (e.g., installed at a facility ofa retailer). A retailer may be any entity operating as abrick-and-mortar physical location and/or a website accessible, forexample, via an intranet, internet, or another network, by way of whichproducts 190 may be ordered by a consumer for delivery via a UAV 110.

The exemplary system 100 depicted in FIG. 1 includes an order processingserver 130 configured to process a purchase order by a customer for oneor more products 190. It will be appreciated that the order processingserver 130 is an optional component of the system 100, and that someembodiments of the system 100 are implemented without incorporating theorder processing server 130. The order processing server 130 may beimplemented as one server at one location, or as multiple interconnectedservers stored at multiple locations operated by the retailer, or forthe retailer. As described in more detail below, the order processingserver 130 may communicate with one or more electronic devices of system100 via a network 115. The network 115 may be a wide-area network (WAN),a local area network (LAN), a personal area network (PAN), a wirelesslocal area network (WLAN), Wi-Fi, Zigbee, Bluetooth, or any otherinternet or intranet network, or combinations of such networks.Generally, communication between various electronic devices of system100 may take place over hard-wired, cellular, Wi-Fi or Bluetoothnetworked components or the like. In some embodiments, one or moreelectronic devices of system 100 may include cloud-based features, suchas cloud-based memory storage.

In the embodiment of FIG. 1, the order processing server 130communicates with a customer information database 140. In someembodiments, the customer information database 140 may be configured tostore information associated with customers of the retailer who orderproducts 190 from the retailer. In some embodiments, the customerinformation database 140 may store electronic information including butnot limited to: personal information of the customers, including paymentmethod information, billing address, previous delivery addresses, phonenumber, product order history, pending order status, product orderoptions, as well as product delivery options (e.g., delivery by UAV) ofthe customer. The customer information database 140 may be stored, forexample, on non-volatile storage media (e.g., a hard drive, flash drive,or removable optical disk) internal or external to the order processingserver 130, or internal or external to computing devices separate anddistinct from the order processing server 130. It will be appreciatedthat the customer information database 140 may likewise be cloud-based.

In the embodiment of FIG. 1, the order processing server 130 is incommunication with a central electronic database 160 configured to storeinformation associated with the inventory of products 190 made availableby the retailer to the customer, as well as information associated withthe UAVs 110 being deployed to deliver products 190 to the deliverydestinations 180 specified by the customers. In some aspects, thecentral electronic database 160 stores information including but notlimited to: information associated with the products 190 beingtransported by the UAV 110; inventory (e.g., on-hand, sold,replenishment, etc.) information associated with the products 190;flight status information associated with the UAV 110; informationassociated with predetermined flight routes 120 of the UAV 110; statusinput information detected by one or more sensors of the UAV 110 duringflight along the flight routes 120; information indicating thecoordinates of the predicted emergency landing location 125; informationindicating one or more electronic devices 170 and people 175 present atthe predicted emergency landing location 125, and information indicatingcollateral damage associated with the predicted emergency landinglocation 125.

The central electronic database 160 may be stored, for example, onnon-volatile storage media (e.g., a hard drive, flash drive, orremovable optical disk) internal or external to the order processingserver 130, or internal or external to computing devices separate anddistinct from the order processing server 130. The central electronicdatabase 160 may likewise be cloud-based. While the customer informationdatabase 140 and the central electronic database 160 are shown in FIG. 1as two separate databases, it will be appreciated that the customerinformation database 140 and the central electronic database 160 can beincorporated into one database.

With reference to FIG. 1, the central computing device 150 may be astationary or portable electronic device, for example, a desktopcomputer, a laptop computer, a tablet, a mobile phone, or any otherelectronic device including a processor-based control circuit (i.e.,control unit). For purposes of this specification, the term “centralcomputing device” will be understood to refer to a computing deviceowned by the retailer or any computing device owned and/or operated byan entity (e.g., delivery service) having an obligation to deliverproducts 190 for the retailer. In the embodiment of FIG. 1, the centralcomputing device 150 is configured for data entry and processing as wellas for communication with other devices of system 100 via the network115 which, as described above. In some embodiments, as will be describedbelow, the central computing device 150 is configured to access thecentral electronic database 160 and/or customer information database 140via the network 115 to facilitate delivery of products 190 via UAVs 110along flight routes 120 to delivery destinations 180, and to facilitatesafe emergency landings of UAVs 110 in the event that the UAVs 110 areunable to continue flight along the flight routes 120.

In the system 100 of FIG. 1, the central computing device 150 is intwo-way communication with the UAV 110 via the network 115. In someaspects, the central computing device 150 is configured to transmit atleast one signal to the UAV 110 to cause the UAV 110 to fly along aflight route 120 determined by the central computing device 150 whiletransporting products 190 from the UAV deployment station 185 to theintended delivery destination 180 (e.g., to drop off a product 190 or topick up a product 190), or while returning from the delivery destination180 to the UAV deployment station 185 (e.g., after dropping off aproduct 190 or after picking up a product 190). In other aspects, aftera customer places an on order for one or more products 190 and specifiesa delivery destination 180 for the products 190 via the order processingserver 130, prior to and/or after the commencement of a delivery attemptof the products 190 ordered by the customer via a UAV 110 to thedelivery destination 180, the central computing device 150 is configuredto obtain GPS coordinates associated with the delivery destination 180selected by the customer and GPS coordinates associated with the UAVdeployment station 185 of the retailer (which houses the UAV 110 thatwill deliver the products 190), and to determine a flight route 120 forthe UAV 110 in order to deliver the customer-ordered products 190 fromthe UAV deployment station 185 to the delivery destination 180.

In yet other aspects, if the computing device 150 determines that a UAV110 is experiencing an inevitable emergency landing and that the UAV 110is unable to transmit an alert signal to electronic devices 170 and/orpeople 175 at the predicted emergency landing location 125, thecomputing device 150 is configured to transmit (directly or via anothercomputing device, sound-generating device, display device, or the like)an alert signal to electronic devices and/or people proximate thepredicted emergency landing location 125, thereby notifying users of theelectronic devices 170 and/or people 175 at the predicted emergencylanding location 125 that the UAV 110 is going to emergency land at thepredicted emergency landing location 125. In one approach, the computingdevice 150 may determine that UAV 110 is experiencing an emergencycondition that will inevitably cause the UAV 110 to crash land after thecomputing device 150 receives an emergency (e.g., SOS) signal from theUAV 110. In one approach, the computing device 150 may determine thatUAV 110 is experiencing an emergency condition that will inevitablycause the UAV 110 to crash land after the computing device 150 queriesthe UAV 110 as to flight status and receives no response from the UAV110.

The UAV 110, which will be discussed in more detail below with referenceto FIG. 3, is generally an unmanned aerial vehicle configured toautonomously traverse one or more intended environments in accordancewith one or more flight routes 120 determined by the central computingdevice 150, and typically without the intervention of a human or aremote computing device, while retaining the products 190 therein anddelivering the products 190 to the delivery destination 180. In someinstances, however, a remote operator or a remote computer (e.g.,central computing device 150) may temporarily or permanently take overoperation of the UAV 110 using feedback information (e.g., audio and/orvideo content, sensor information, etc.) communicated from the UAV 110to the remote operator or computer via the network 115, or anothersimilar distributed network. While only one UAV 110 is shown in FIG. 1for ease of illustration, it will be appreciated that in someembodiments, the central computing device 150 may communicate with,and/or provide flight route instructions to more than one (e.g., 5, 10,20, 50, 100, 1000, or more) UAVs 110 simultaneously to guide the UAVs110 to transport products 190 to their respective delivery destinations180 and/or to facilitate safe emergency landings of the UAVs 110.

In some embodiments, as will be discussed in more detail below, the UAV110 is equipped with one or more sensors configured to detect andtransmit (e.g., internally to the UAV 110 and/or over the network 115)at least one status input associated with the UAV 110 during flightalong the flight route 120. In addition, in some configurations, the UAV110 includes a processor-based control circuit configured to determine,based on an analysis of the status input, that the UAV 110 isexperiencing an emergency condition that requires an emergency landingof the UAV 110 and a predicted emergency landing location 125 of the UAV110, as well as to transmit the predicted emergency landing location 125of the UAV 110 over the network 115, for example, to the centralcomputing device 150. In some aspects, the UAV 110 is configured totransmit an alert signal to electronic devices 170 (and/or people 175)proximate the predicted emergency landing location 125 to notify usersof the electronic devices 170 (and/or people not having electronicdevices 170) that the UAV 110 is going to crash land at the predictedemergency landing location 125.

With reference to FIG. 2, an exemplary central computing device 150configured for use with the systems and methods described herein mayinclude a control unit or control circuit 210 including a processor (forexample, a microprocessor or a microcontroller) electrically coupled viaa connection 215 to a memory 220 and via a connection 225 to a powersupply 230. The control circuit 210 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform, such as a microcontroller, an application specificationintegrated circuit, a field programmable gate array, and so on. Thesearchitectural options are well known and understood in the art andrequire no further description here.

The control circuit 210 of the central computing device 150 can beconfigured (for example, by using corresponding programming stored inthe memory 220 as will be well understood by those skilled in the art)to carry out one or more of the steps, actions, and/or functionsdescribed herein. In some embodiments, the memory 220 may be integral tothe processor-based control circuit 210 or can be physically discrete(in whole or in part) from the control circuit 210 and is configurednon-transitorily store the computer instructions that, when executed bythe control circuit 210, cause the control circuit 210 to behave asdescribed herein. (As used herein, this reference to “non-transitorily”will be understood to refer to a non-ephemeral state for the storedcontents (and hence excludes when the stored contents merely constitutesignals or waves) rather than volatility of the storage media itself andhence includes both non-volatile memory (such as read-only memory (ROM))as well as volatile memory (such as an erasable programmable read-onlymemory (EPROM))). Thus, the memory and/or the control circuit may bereferred to as a non-transitory medium or non-transitory computerreadable medium.

The control circuit 210 of the central computing device 150 is alsoelectrically coupled via a connection 235 to an input/output 240 thatcan receive signals from the UAV 110 and/or order processing server 130and/or customer information database 140 and/or central electronicdatabase 160. For example, in some approaches, the computing device 150receives sensor data representing at least one status input associatedwith the UAV 110 during flight of the UAV 110 along the flight route120, electronic emergency (e.g., SOS) signals from the UAV 110indicating that the UAV 110 is experiencing an emergency condition(including an identification of the emergency condition) that requiresan emergency landing of the UAV 110, and data relating to an order for aproduct 190 placed by the customer, location data (e.g., GPScoordinates) associated with the delivery destination 180 selected bythe customer, or from any other source that can communicate with thecentral computing device 150 via a wired or wireless connection.

The input/output 240 of the computing device 150 can also send signalsto the UAV 110 (e.g., a control signal indicating a flight route 120determined by the computing device 150 for the UAV 110 in order todeliver the product 190 from the UAV deployment station 185 to thedelivery destination 180). The input/output 240 of the central computingdevice 150 can also send signals to the order processing server 130(e.g., notification indicating that the UAV 110 was unable tosuccessfully deliver the product 190 to the delivery destination 180 dueto an emergency landing). In some aspects, the computing device 150 isconfigured to transmit, via the input/output 240 and over the network115, an alert signal to electronic devices 170 and/or people 175 at thepredicted emergency landing location 125 to notify users of electronicdevices 170 and/or people 175 that the UAV 110 is going to crash land atthe predicted emergency landing location 125.

In the embodiment of FIG. 2, the processor-based control circuit 210 ofthe central computing device 150 is electrically coupled via aconnection 245 to a user interface 250, which may include a visualdisplay or display screen 260 (e.g., LED screen) and/or button input 270that provide the user interface 250 with the ability to permit anoperator of the central computing device 150 to manually control thecentral computing device 150 by inputting commands via touch-screenand/or button operation and/or voice commands to, for example, totransmit a control signal to the UAV 110 in order to provide the UAV 110with the flight route 120 from the UAV deployment station 185 to thedelivery destination 180, or to transmit an alert signal to electronicdevices 170 and/or people 175 proximate the predicted emergency landinglocation 125 to provide a warning to the users of the electronic devices170 and/or people 175 at the emergency landing location 125 that the UAV110 is going to emergency land at the predicted emergency landinglocation 125. It will be appreciated that the performance of suchfunctions by the processor-based control circuit 210 of the centralcomputing device 150 is not dependent on a human operator, and that thecontrol circuit 210 may be programmed to perform such functions withouta human operator.

In some aspects, the display screen 260 of the central computing device150 is configured to display various graphical interface-based menus,options, and/or alerts that may be transmitted to the central computingdevice 150 and displayed on the display screen 260 in connection withvarious aspects of the delivery of the products 190 ordered by thecustomers by the UAVs 110, as well as various aspects of predicted andactual emergency landings of the UAV 110. The inputs 270 of the centralcomputing device 150 may be configured to permit an operator to navigatethrough the on-screen menus on the central computing device 150 andchange and/or update the flight route 120 of the UAV 110 toward or awayfrom the delivery destination 180 and/or to guide a UAV 110 experiencingan emergency landing toward a predicted emergency landing location 125,and/or to cause the UAV 110 and/or computing device 150 to generate analert signal to electronic devices 170 and/or people 175 at thepredicted emergency landing location 125 to notify users of theelectronic devices 170 and/or people 175 at the predicted emergencylanding location 125 that the UAV 110 is going to emergency land at thepredicted emergency landing location 125. It will be appreciated thatthe display screen 260 may be configured as both a display screen and aninput 270 (e.g., a touch-screen that permits an operator to press on thedisplay screen 260 to enter text and/or execute commands.)

In some embodiments, after an order for one or more products 190 isplaced by a customer via the order processing server 130, and prior tocommencement of the delivery attempt of one or more products 190 via theUAV 110 to the delivery destination 180 designated by the customer, thecontrol circuit 210 of the central computing device 150 is programmed toobtain the GPS coordinates of the delivery destination 180 where theproduct 190 is to be delivered by the UAV 110. For example, inembodiments, where the customer requested delivery of a product 190 orproducts 190 to a delivery destination 180 associated with a specificgeographic location (e.g., home address, work address, etc.), thecontrol circuit 210 of the central computing device 150 obtains the GPScoordinates associated with the delivery destination 180, for example,from the customer information database 140, or from another sourceconfigured to provide GPS coordinates associated with a given physicaladdress.

In some embodiments, the control circuit 210 of the central computingdevice 150 is configured to analyze the GPS coordinates of both the UAVdeployment station 185 and the delivery destination 180, and todetermine and generate a flight route 120 for the UAV 110. In oneaspect, the flight route 120 determined by the central computing device150 is based on a starting location of the UAV 110 (e.g., a UAVdeployment station 185) and the intended destination of the UAV 110(e.g., delivery destination 180 and/or product pick up destination). Insome aspects, the central computing device 150 is configured tocalculate multiple possible flight routes 120 for the UAV 110, and thenselect a flight route 120 determined by the central computing device 150to provide an optimal flight time and/or optimal predicted emergencylanding locations 125 for the UAV 110 while flying along the originalflight route 120. In some embodiments, after the control circuit 210 ofthe central computing device 150 determines and generates a flight route120 for the UAV 110, the central computing device 150 transmits, via theoutput 240 and over the network 115, a signal including the flight route120 to the UAV 110 assigned to deliver one or more products 190 from theUAV deployment station 185 to the delivery destination 180.

In some aspects, prior to the UAV 110 being deployed from the UAVdeployment station 185, the control circuit 210 of the central computingdevice 150 and/or the control circuit 306 of the UAV 310 (which will bediscussed in more detail below) is programmed to analyze the determinedflight route 120 of the UAV 110 and to predict an emergency landinglocation 125 where the UAV 110 would land if the UAV 110 is unable tofly due to one or more emergency conditions (that force the UAV 110 tocrash land) at any given point along the flight route 120. In someembodiments, after the UAV 110 has been deployed and while the UAV 110is in flight along a flight route 120 predetermined by the centralcomputing device 150, the control circuit 210 of the central computingdevice 150 is programmed predict, in real time, emergency landinglocations 125 where the UAV 110 would land if the UAV 110 is unable tofly due to one or more emergency conditions at any point along theflight route 120.

In some embodiments, the central computing device 150 is capable ofintegrating 2D and 3D maps of the navigable space of the UAV 110 alongthe flight route 120 determined by the central computing device 150,complete with topography data comprising: no fly zones along the flightroute 120 and on-ground buildings, hills, bodies of water, power lines,roads, vehicles, people, and/or known safe landing points for the UAV110 along the flight route 120. After the central computing device 150maps all in-air and on-ground objects along the flight route 120 of theUAV 110 to specific locations using algorithms, measurements, and GPSgeo-location, for example, grids may be applied sectioning off the mapsinto access ways and blocked sections, enabling the UAV 110 to use suchgrids for navigation and recognition. The grids may be applied to 2Dhorizontal maps along with 3D models. Such grids may start at a higherunit level and then can be broken down into smaller units of measure bythe central computing device 150 when needed to provide more accuracy.In some aspects, for various on-ground facilities (e.g., residential orcommercial buildings, schools, parks/recreation, etc.) determined by thecomputing device 150 proximate the predicted emergency landing location125, the computing device 150 is configured to analyze the working hoursat such buildings (in order to assess potential personal injury risk inthe event of a UAV 110 crashing at such facilities), as well as toobtain information regarding electronic devices 170 (e.g., centralcomputers, mobile phones, etc.) present at such facilities (in order toenable the UAV 110 and/or the computing device 150) to transmit anemergency alert signal to such electronic devices 170 and warn the usersof the electronic devices 170 and/or other people 175 at such facilitiesthat a UAV 110 is going to crash land into or near such facilities.

FIG. 3 presents a more detailed exemplary embodiment of the UAV 310 ofFIG. 1. In this example, the UAV 310 has a housing 302 that contains(partially or fully) or at least supports and carries a number ofcomponents. These components include a control unit 304 comprising acontrol circuit 306 that, like the control circuit 210 of the centralcomputing device 150, controls the general operations of the UAV 310.The control unit 304 includes a memory 308 coupled to the controlcircuit 306 for storing data such as operating instructions and/oruseful data.

In some embodiments, the control circuit 306 operably couples to amotorized leg system 309. This motorized leg system 309 functions as alocomotion system to permit the UAV 310 to land onto the ground or ontoa landing pad at the delivery destination 180 and/or to move laterallyat the delivery destination 180 or at an emergency landing location 125after the UAV 110 crash lands. Various examples of motorized leg systemsare known in the art. Further elaboration in these regards is notprovided here for the sake of brevity save to note that the controlcircuit 306 may be configured to control the various operating states ofthe motorized leg system 309 to thereby control when and how themotorized leg system 309 operates.

In the exemplary embodiment of FIG. 3, the control circuit 306 operablycouples to at least one wireless transceiver 312 that is configured as atwo-way transceiver and operates according to any known wirelessprotocol. This wireless transceiver 312 can comprise, for example, acellular-compatible, Wi-Fi-compatible, and/or Bluetooth-compatibletransceiver that can wirelessly communicate with the central computingdevice 150 via the network 115. These teachings will accommodate usingany of a wide variety of wireless technologies as desired and/or as maybe appropriate in a given application setting. These teachings will alsoaccommodate employing two or more wireless transceivers 312. Soconfigured, the control circuit 306 of the UAV 310 can provideinformation (e.g., sensor input) to the central computing device 150(via the network 115) and can receive information and/or movement (e.g.,routing and rerouting) instructions from the central computing device150.

In some embodiments, the wireless transceiver 312 is configured toreceive a signal containing instructions including the flight route 120and/or rerouting information transmitted from the central computingdevice 150, and that can transmit one or more signals to the centralcomputing device 150. For example, the control circuit 306 of the UAV310 can receive control signals from the central computing device 150via the network 115 containing instructions regarding directionalmovement of the UAV 310 along a specific, central computingdevice-determined flight route 120 when, for example: flying from theUAV deployment station 185 to the delivery destination 180 to drop offand/or pick up a product 190, when returning from the deliverydestination 180 after dropping off or picking up a product 190 to theUAV deployment station 185, or when experiencing an emergency landingtoward the predicted emergency landing location 125. In particular, asdiscussed above, the central computing device 150 can be configured toanalyze GPS coordinates of the delivery destination 180 designated bythe customer, determine a flight route 120 for the UAV 110 to thedelivery destination 180, and transmit to the wireless transceiver 312of the UAV 110 a first control signal including the flight route 120over the network 115. The UAV 110, after receipt of the first controlsignal from the central computing device 150, is configured to navigatealong the flight route 120, based on the route instructions in thecontrol signal, to the delivery destination 180.

In some embodiments, the UAV 310 is configured to transmit, via thetransceiver 312, electronic emergency (e.g., SOS) signals indicatingthat the UAV 110 is experiencing an emergency condition that requires anemergency landing of the UAV 310. In one approach, the electronicemergency signal transmitted by the UAV 310 includes an identificationof the emergency condition (e.g., rock, bird, another UAV,electrical/mechanical failure, etc.) In some embodiments, the UAV 310 isconfigured to generate and transmit an alert to electronic devices 170and/or people 175 at the predicted emergency landing location 125. Inone aspect, as will be described in more detail below, the UAV 310generates an audible alert (e.g., a siren or verbal warning) via theaudio output 318, thereby warning people 175 in the predicted emergencylanding location 125 that a UAV 310 is going to crash land nearby. Inanother aspect, the UAV 310 is configured to transmit the alert via thetransceiver 312 (directly or indirectly) to electronic devices 170(e.g., in text message and/or audible alert form) in the predictedemergency landing area 125.

In some aspects, the UAV 310 is configured to transmit an alert signalto electronic devices other than the central computing device 150, forexample, ground vehicles, emergency alert stations, emergencyalert-generating devices, and/or other computing devices that arecoupled, or are otherwise configured, to audibly and/or visuallygenerate and transmit an emergency alert to the electronic devices 170and/or people 175 in the emergency landing location 125. For example,after receiving the SOS signal from the UAV 310, one or more groundvehicles, emergency alert stations, and emergency alert-generatingdevices generate an audible alert signal and/or a visual alert signalconfigured to be displayed on electronic devices 170 and/or perceived(visually and/or audibly) by people 175 at the predicted emergencylanding location 125 without assistance from their electronic devices.In some aspects, after the UAV 310 lands at the predicted emergencylanding location 125, the UAV 310 is configured to transmit anelectronic emergency signal to the central computing device 150 and/orother electronic devices via the transceiver 312 of the UAV 310 and thenetwork 115 in order to facilitate the recovery of the UAV 310. Forexample, in some aspects, the electronic emergency signal can includeelectronic data identifying the UAV 310, task data associated with theUAV 310 during the flight mission, as well as electronic dataidentifying the type of products 190 (e.g., grocery, frozen, fragile,dry goods, bio-hazard, hazardous materials classification, etc.)contained in the UAV 310 to identify possible hazards associated withrecovery operations and/or to facilitate proper response requirementsand/or proper handling of the UAV 310 during the recovery operations.

With reference to FIG. 3, the control circuit 306 of the UAV 310 alsocouples to one or more on-board sensors 314 of the UAV 310. Theseteachings will accommodate a wide variety of sensor technologies andform factors. In some embodiments, the on-board sensors 314 can compriseany relevant device that detects and/or transmits at least one status ofthe UAV 310 during flight of the UAV 110 along the flight route 120. Thesensors 314 of the UAV 310 can include but are not limited to:altimeter, velocimeter, thermometer, photocell, battery life sensor,video camera, radar, lidar, laser range finder, and sonar. In someembodiments, the information obtained by one or more sensors 314 of theUAV 310 is used by the UAV 310 and/or the central computing device 150in functions including but not limited to: navigation, landing,on-the-ground object/people detection, potential in-air threatdetection, crash damage assessments, distance measurements, topographymapping, location determination, emergency detection.

In some aspects, the status input detected and/or transmitted by one ormore sensors 314 of the UAV 310 includes but is not limited to locationdata associated with the UAV 310. Such location data can include, forexample GPS coordinates of the UAV 310, marker beacon data along theflight route 120, and way point data along the flight route 120, all ofwhich enable the control circuit 210 of the central computing device 150and/or the control circuit 306 of the UAV 310, based on an analysis ofat least such location data, to predict an emergency landing location125 where the UAV 310 would land if unable to fly due to an emergencycondition at a given point along the flight route 120. In someembodiments, the status input detected and/or transmitted by the atleast one sensor 314 of the UAV 310 includes UAV status data includingbut not limited to propeller status, electronics status, communicationstatus, interfering radio frequency (RF) status. For example, the UAV310 can include at least one sensor 314 configured to monitor thefunction of, and to detect any malfunction of, any mechanical orelectronic component of the UAV 310.

In some aspects, the sensors 314 of the UAV 310 are configured to detectrotation speed of the propellers of the UAV 310, detect directionalmovement of the UAV 310, measure ambient temperature surrounding the UAV310, capture images and/or video in the air around the UAV 310 or on theground below the UAV 310 along the flight route 120 of the UAV 310,capture thermographic, infrared, and/or multi spectral images of suchin-air or on ground objects, capture images of entities attempting totamper with UAV 310. Such sensors 314 include but are not limited to oneor more accelerometers, gyroscopes, odometers, location sensors,microphones, distance measurement sensors (e.g., laser sensors, sonarsensors, sensors that measure distance by emitting and capturing awireless signal (which can comprise light and/or sound) or the like), 3Dscanning sensors, other such sensors, or a combination of two or more ofsuch sensors.

In some embodiments, the status input detected and/or transmitted by theat least one sensor 314 of the UAV 310 includes flight mission data ofthe UAV 310. Such flight mission data can include but is not limited to:dimensional characteristics of the product(s) 190 being transported bythe UAV 310; weight of the product(s) 190 being transported by the UAV310; total weight of the UAV 310; component configuration of the UAV310; altitude of the UAV 310; speed of the UAV 310; ambient wind speed;ambient temperature; ambient light level, in-air objects proximate theUAV 310 along the flight route 120; RF signal strengths prior to onsetof emergency conditions, last recognized wireless (e.g., Wi-Fi) networksprior to emergency condition, last visual imaged captured prior to onsetof emergency condition and/or prior to crash landing; distance of theUAV 310 to the in-air objects; angle of incidence of the UAV 310relative to the in-air objects; last command received by the UAV 310prior to onset of emergency condition, remaining battery life of the UAV310; start- and end-points of the UAV 310 along the flight route 120;last known mission status of the UAV 310 (on route to deliverydestination 185, returning to the UAV deployment station 185, deliverycancelled, etc.), original path of the UAV 310 along the flight route120; location of one or more mobile relay stations along the flightroute 120; location of at least one facility of the retailer having asafe landing point along the flight route 120; total dollar value of theproducts 190 being transported by the UAV 310; and total dollar value ofthe UAV 310. In some embodiments, such data obtained by the sensors 314can be used to locate and/or recover the drone post-crash at thepredicted emergency landing location 125. In some aspects, such data maybe used to enable post-crash UAV recovery 310 and/or post-crashforensics/diagnostics, for example, to determine the cause of theemergency condition (e.g., in-air object, RF signal jamming, electrical,mechanical, or electronic malfunction, or the like) that caused the UAV310 to crash.

For example, in some aspects, the sensors 314 include one or moredevices that can be used to capture data related to one or more in-airobjects (e.g., other UAVs 310, helicopters, birds, rocks, etc.) locatedwithin a threshold distance relative to the UAV 310. For example, theUAV 310 includes at least one on-board sensor 314 configured to detectat least one obstacle between the UAV 310 and the delivery destination180 designated by the customer and/or the predicted emergency landinglocation 125. Based on the detection of one or more obstacles by such asensor 314, the UAV 310 is configured to avoid the obstacle(s). In someaspects, the UAV 310 may attempt to avoid detected obstacles, and ifunable to avoid, to notify the central computing device 150 of such acondition. In some aspects, using on-board sensors 314 (such as distancemeasurement units, e.g., laser or other optical-based distancemeasurement sensors), the UAV 310 detects obstacles in its path, andflies around such obstacles or stops until the obstacle is clear.

In some aspects, the UAV 310 includes sensors 314 configured torecognize environmental elements along the flight route 120 of the UAV310 toward and/or away from the delivery destination 180. Such sensors314 can provide information that the control circuit 306 and/or thecentral computing device 150 can employ to determine a present location,distance, and/or orientation of the UAV 310 relative to one or morein-air objects and/or objects and surfaces at the delivery destination180, and/or at the predicted emergency landing location 125. Theseteachings will accommodate any of a variety of distance measurementunits including optical units and sound/ultrasound units. A sensor 314may comprise an altimeter and/or a laser distance sensor device capableof determining a distance to objects in proximity to the sensor 314.Such information obtained by sensors 314 may be processed by the controlcircuit 306 of the UAV 310 and/or the control circuit 210 of the centralcomputing device 150 to determine, for example, the objects (buildings,cars, bus stops, parks, schools, etc.) that may be damages and/or peoplethat may be injured by the crashing of the UAV 310 at the predictedemergency landing location 125.

In some embodiments, such information obtained by sensors 314 is used bythe computing device 150 and/or the UAV 110 to calculate a predictedcasualty radius within which people 175 can be injured and property canbe damaged by the emergency landing of the UAV 110 at the predictedemergency landing location 125. In some aspects, the control circuit 210of the computing device 150 and/or the control circuit 306 of the UAV310 are programmed to determine the presence of: electronic devices 170(e.g., mobile phones, personal computers, loudspeakers, etc.) locatedwithin the predicted casualty radius and/or otherwise configured todisplay/transmit information to people 175 located in the predictedemergency landing location 125; and in-air electronic devices locatedproximate a descent path of the UAV 310, from a given point of theflight route 120 where the emergency condition occurred, toward thepredicted emergency landing location 125. Furthermore, in some aspects,the computing device 150 and the UAV 310 are configured to transmit thealert signal to the detected electronic devices of humans located withinthe predicted casualty radius, detected electronic devices associatedwith vehicles located within the predicted casualty radius, detectedelectronic devices associated with privately owned facilities locatedwithin the predicted casualty radius, detected electronic devicesassociated with public facilities located within the predicted casualtyradius, and/or detected electronic devices associated with in-airobjects located proximate the descent path of the UAV 310.

In some embodiments, the UAV 310 includes an on-board sensor 314 (e.g.,a video camera) configured to detect map reference and/or topographyand/or people and/or objects at the predicted emergency landing location125. For example, in some aspects, one or more map reference ortopography data acquired by one or more sensors 314 of the UAV 310includes but is not limited to: no fly zones along the flight route 120,known safe emergency landing points along the flight route 120,on-the-ground people, buildings, vehicles and/or other objects, as wellas hills, bodies of water, power lines, roads, and other environmentalfactors along the flight route 120 and/or at the predicted emergencylanding location 125. As mentioned above, in some embodiments, a videocamera-based sensor 314 on-board the UAV 310 may transmit images duringthe emergency decent of the UAV 310 all the way to the point of groundimpact, thereby facilitating post-crash recovery of the UAV 310 in thepredicted emergency landing location 125.

In some aspects, the sensor 314 of the UAV 310 is configured to transmit(e.g., via internal circuitry and/or via the transceiver 312) stilland/or moving images of the predicted emergency landing location 125 tothe control circuit 306 of the UAV 110 and/or the control circuit 210 ofthe central computing device 150, which allows the control circuit 306of the UAV 310 and/or the control circuit 210 of the central computingdevice 150 to not only analyze the detected environmental elements andassess a personal injury risk and/or property damage risk associatedwith the crash landing of the UAV 310 at the predicted emergency landinglocation 125, but also to determine which electronic devices in thepredicted emergency landing location 125 can be warned with an emergencyalert signal indicating that a UAV 310 is going to crash land in thepredicted emergency landing location 125. In one aspect, such analysisby the control circuit 210 of the central computing device 150 and/orthe control circuit 306 of the UAV 310 can include obtaining informationindicating a number of people and/or cars and/or buildings and/or otherstructures in a predicted casualty radius associated with the crashlanding of the UAV 310.

In some embodiments, after the control circuit 210 of the centralcomputing device 150 and/or control circuit 306 of the UAV 310determines a predicted emergency landing location 125, the controlcircuit 210 of the central computing device 150 and/or control circuit306 of the UAV 310 is programmed to detect, based on the data obtainedby the sensors 314 and/or via further communications with on-groundelectronic devices proximate the predicted emergency landing location125, electronic devices that are configured for receiving (eitherdirectly or via another electronic device, emergency station,loudspeaker, electronic display, or the like) an emergency alert signalgenerated by the UAV 310 and/or the central computing device 150.

In some embodiments, an audio input 316 (such as a microphone) and/or anaudio output 318 (such as a speaker) can also operably couple to thecontrol circuit 306 of the UAV 310. So configured, the control circuit306 can provide for a variety of audible sounds to enable the UAV 310 tocommunicate with, for example, the central computing device 150 or otherUAVs, or electronic devices at the emergency landing location 125. Suchsounds can include any of a variety of tones and/or sirens and/or othernon-verbal sounds. Such audible sounds can also include, in lieu of theforegoing or in combination therewith, pre-recorded or synthesizedspeech. In some embodiments, the UAV 310 can be configured with one ormore devices capable of generating (instead of or in addition to theaudible alert) a visual alert (e.g., flare, smoke, flashing lights,etc.) that would be perceivable by people 175 at the predicted emergencylanding location 125 without requiring assistance from their personalelectronic devices.

In the embodiment illustrated in FIG. 3, the UAV 310 includes arechargeable power source 320 such as one or more batteries. The powerprovided by the rechargeable power source 320 can be made available towhichever components of the UAV 310 require electrical energy. By oneapproach, the UAV 310 includes a plug or other electrically conductiveinterface that the control circuit 306 can utilize to automaticallyconnect to an external source of electrical energy (e.g., a chargingdock) to recharge the rechargeable power source 320.

The exemplary UAV 310 of FIG. 3 also includes a an input/output (I/O)device 330 that is coupled to the control circuit 306. The I/O device330 allows an external device to couple to the control unit 304. Thefunction and purpose of connecting devices will depend on theapplication. In some examples, devices connecting to the I/O device 330may add functionality to the control unit 304, allow the exporting ofdata from the control unit 304, allow the diagnosing of the UAV 310, andso on.

The exemplary UAV 310 of FIG. 3 also includes a user interface 324including for example, user inputs and/or user outputs or displaysdepending on the intended interaction with a user (e.g., a worker of aretailer, UAV delivery service or customer, and/or a rescue operationsworker or robot). For example, user inputs could include any inputdevice such as buttons, knobs, switches, touch sensitive surfaces ordisplay screens, and so on. Example user outputs include lights, displayscreens, and so on. The user interface 324 may work together with orseparate from any user interface implemented at an optional userinterface unit (such as a smart phone or tablet device) usable by theworker.

In some embodiments, the UAV 310 may be controlled by a user in directproximity to the UAV 310, for example, an operator of the UAV deploymentstation 185 (e.g., a driver of a moving vehicle), or by a user at anylocation remote to the location of the UAV 310 (e.g., regional orcentral hub operator). This is due to the architecture of someembodiments where the central computing device 150 outputs controlsignals to the UAV 310. These controls signals can originate at anyelectronic device in communication with the central computing device150. For example, the signals sent to the UAV 310 may be movementinstructions determined by the central computing device 150 and/orinitially transmitted by a device of a user to the central computingdevice 150 and in turn transmitted from the central computing device 150to the UAV 310.

The control unit 304 of the UAV 310 includes a memory 308 coupled to acontrol circuit 306 and storing data such as operating instructionsand/or other data. The control circuit 306 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description. This control circuit 306 isconfigured (e.g., by using corresponding programming stored in thememory 308 as will be well understood by those skilled in the art) tocarry out one or more of the steps, actions, and/or functions describedherein. The memory 308 may be integral to the control circuit 306 or canbe physically discrete (in whole or in part) from the control circuit306 as desired. This memory 308 can also be local with respect to thecontrol circuit 306 (where, for example, both share a common circuitboard, chassis, power supply, and/or housing) or can be partially orwholly remote with respect to the control circuit 306. This memory 308can serve, for example, to non-transitorily store the computerinstructions that, when executed by the control circuit 306, cause thecontrol circuit 306 to behave as described herein. It is noted that notall components illustrated in FIG. 3 are included in all embodiments ofthe UAV 310. That is, some components may be optional depending on theimplementation.

As referenced above, in some aspects, after receiving one or more sensorinputs detected by one or more sensors 314 of the UAV 310 while the UAV310 is in flight along the flight route 120 determined by the centralcomputing device 150, the control circuit 210 of the central computingdevice 150 is programmed to analyze one or more of the received statusinputs in order to determine a predicted emergency landing location 125where the UAV 310 would land if unable to fly due to an emergencycondition at a given point along the flight route 120. Similarly, insome embodiments, the control circuit 306 of the UAV 310 is programmedto analyze one or more status inputs obtained by one or more sensors 314while the UAV 310 is in normal flight mode and/or facing an imminentemergency condition in order to determine the emergency landing location125 where the UAV 110 would land if unable to fly due to the emergencycondition at a given point along the flight route 120.

For example, in some aspects, the control circuit 306 of the UAV 310and/or the control circuit 210 of the central computing device 150 isprogrammed to predict possible emergency landing locations 125 of theUAV 310 based on possible emergency conditions occurring at any givenpoint along the flight route 120 of the UAV 310, which include analysisof emergency landing locations 125 including but not limited to: anemergency landing location 125 resulting from an unguided ballistictrajectory of the UAV 310 if the UAV 310 loses all power (e.g., thebattery of the UAV 310 dies or is otherwise disabled) at any point alongthe flight route 120; an emergency landing location 125 resulting from acollision of the UAV 310 with an in-air object (e.g., bird, rock, otherUAV, etc.) that causes the UAV 310 to veer off the flight route 120and/or malfunction such that the UAV 310 is not controllable; anemergency landing location 125 resulting from a guided ballistictrajectory of the UAV 310 if the UAV 310 malfunctions or collides withan object at any point along the flight route 120 but does not losepower and remains controllable by the central computing device 150and/or the control circuit 306 of the UAV 310 from the point along theflight route 120 where the emergency condition occurred to the emergencylanding location 125 where the UAV 310 is guided to.

FIG. 4 shows an embodiment of an exemplary method 400 of controlling anUAV 110 experiencing an emergency landing and providing an emergencyalert to an area proximate a predicted emergency landing location 125 ofthe UAV 110. The embodiment of the method 400 illustrated in FIG. 4includes providing a UAV 110 configured to transport at least oneproduct 190 to a delivery destination 180 via a flight route 120, withthe UAV 110 including at least one sensor 314 configured to detect andtransmit over a network 115 at least one status input associated withthe UAV 110 during flight along the flight route 120 (step 410). Themethod 400 further includes providing a computing device 150 including aprocessor-based control circuit 210 and in communication with the UAV110 over the network 115 (step 420).

As discussed above, the central computing device 150 is configured toobtain and analyze the relative locations of the UAV deployment station185 and delivery destination 180 in order to determine a flight route120 for the UAV 110 from the UAV deployment station 185 to the deliverydestination 180. For example, in some embodiments, the central computingdevice 150 obtains GPS data associated with the delivery destination 180from the customer information database 140 and GPS data associated withthe UAV deployment station 185 from the central electronic database 160.As discussed above, the customer information database 140 and thecentral electronic database 160 may be implemented as a single database.

As discussed above, while the UAV 110 is in flight along the flightroute 120 from the UAV deployment station 185 to the deliverydestination 180, the onboard sensors 314 of the UAV 310 monitor variousparameters relating to the flight mission of the UAV 310 and the statusof the UAV 310. While the data detected by the sensors 314 is expectedto, in most cases, indicate that the flight mission is going as planned,in certain situations, the sensors 314 may provide information regardinga possible and/or imminent emergency condition that may cause the UAV310 to experience an emergency landing. For example, a sensor 314 maydetect a malfunction (e.g., power loss, electrical short-circuit,mechanical (e.g., propeller) problem, or the like) or an imminentcollision with an in-air object (e.g., a rock or another device launchedfrom the ground, a bird, another UAV, a helicopter, or the like) thatwould be expected by the analyzing processor (e.g., control circuit 210of the central computing device and/or control circuit 306 of the UAV310) to cause the UAV 310 to experience an emergency landing. To thatend, the method 400 includes determining, via the control circuit of theUAV 310 and based on an analysis of the at least one status input, thatthe UAV 310 is experiencing an emergency condition that requires anemergency landing of the UAV 310 (step 430).

As discussed above, the on-board sensors 314 of the UAV 310 may includebut are not limited to: altimeter, velocimeter, thermometer, photocell,battery life sensor, video camera, radar, lidar, laser range finder, andsonar, and the information obtained by the sensors 314 of the UAV 310while the UAV 310 is in flight is used by the control circuit 306 of theUAV 310 and/or the control circuit 210 of the central computing device150 in functions including but not limited to: navigation, landing,on-the-ground object/people detection, potential in-air threatdetection, crash damage assessments, distance measurements, topographymapping, location determination, emergency detection. In some aspects,the status input detected and/or transmitted by one or more sensors 314of the UAV 310 includes but is not limited to location data associatedwith the UAV 310 and data relating to potential obstacles, in-airobjects, and UAV status information that may be relevant to analysis, bythe control circuit 306 of the UAV 310, of potential emergencyconditions that may force the UAV 310 to experience a forced emergencylanding, as well as of predicted emergency landing location 125 wherethe UAV 310 would land if unable to fly due to an emergency condition ata given point along the flight route 120.

As discussed above, in some embodiments, the control circuit 306 of theUAV 310 analyzes one or more status inputs obtained by one or moresensors 314 while the UAV 110 is in normal flight mode and/or facing animminent emergency condition in order to determine the emergency landinglocation 125 where the UAV 110 would land if unable to fly due to theemergency condition at a given point along the flight route 120. To thatend, the method 400 further includes analyzing, via a processor-basedcontrol circuit 306 of the UAV 310, one or more of the status inputs(acquired by the sensors 314 of the UAV 310) in order to determine apredicted emergency landing location 125 where the UAV 310 would land ifunable to fly due to the detected emergency condition at a given pointalong the determined flight route 120 (step 440).

In some embodiments, after the control circuit 210 of the centralcomputing device 150 and/or control circuit 306 of the UAV 310 predictsthe emergency landing location 125 of the UAV 310 as a result of theemergency condition, the control circuit 306 of the UAV 310 isprogrammed to cause the UAV 310 to transmit an emergency signal (e.g.,SOS) indicating that a crash of the UAV 310 is unavoidable and,optionally, indicating the emergency condition that caused the UAV 310to go down. In the exemplary embodiment of FIG. 4, the method 400 ofFIG. 4 includes transmitting the predicted emergency landing location125 of the UAV 310 to the computing device 150 over the network 115(step 450). It will be appreciated that the control circuit 306 of theUAV 310 can be programmed not only to analyze the data obtained by thesensors 314 in order to predict an emergency landing location 125 of theUAV 310 only after an emergency condition actually occurs, but also toanalyze the data obtained by the sensors 314 in real-time while the UAV310 is in flight in order to continuously predict emergency landinglocations 125 of the UAV 310 if a crash-causing emergency were to occurat a given point along the route 120 of the UAV 310 toward the deliverydestination 180.

Generally, determining a predicted emergency landing location 125 afterthe emergency condition occurs and before the UAV 310 crash landsenables the UAV 310 and/or central computing device 150 to provide awarning (directly or via another computing device) to people 175 and/orelectronic devices 170 in the predicted emergency landing location 125of the UAV 310, thereby reducing the possible personal injury and/orproperty damage that may result from the crash landing of the UAV 310 atthe predicted emergency landing location 125. More specifically, theexemplary method 400 of FIG. 4 further includes transmitting, via theUAV 310, an alert signal to electronic devices 170 proximate thepredicted emergency landing location 125 to notify users of theelectronic devices that the UAV 310 is going to experience an emergencylanding at the predicted emergency landing location 125 (step 460).

In some embodiments, the UAV 310 is configured to send out an emergencysignal to electronic devices 170 in the predicted emergency landing area125 via a text message. For example, the UAV 310 may transmit (via thetransceiver 312 and over the network 115) an alert that the UAV 310 iscrashing in the predicted emergency landing area 125 to an emergencysignal station configured to transmit emergency signals (e.g., akin tokidnapped child alerts) to all mobile phones detected in an area thatincludes the predicted emergency landing location 125 and is serviced bythe emergency signal station. In one aspect, after such an emergencysignal station receives the alert from the UAV 310 over the network 115,the emergency signal station relays the alert (e.g., via a text messageand/or accompanying audible alert) to the electronic devices 170 (e.g.,mobile phones) located in the area covering the predicted emergencylanding location 125 of the UAV 310, thereby providing a warning tousers of such electronic devices 170 that a UAV 310 is imminently goingto crash land at the predicted emergency landing location 125.

In another aspect, instead of sending an alert signal to an emergencysignal station and relying on the emergency signal station to relay thealert signal to the electronic devices 170 in the area that covers thepredicted landing location 125 of the UAV 310, the UAV 310 obtainsnetwork permission and/or electronic device information from theemergency signal station, enabling the UAV 310 to transmit (via thetransceiver 312 and over the network 115) the alert signal via a textmessage and/or an accompanying audible alert directly to the electronicdevices 170 located in the predicted landing location 125. For purposesof this disclosure, the term emergency signal station will be understoodto refer to a communication hub (which may comprise a single computingdevice or multiple networked computing devices) having permission totransmit electronic emergency communications to electronic devices in anarea services by the communications hub.

As discussed above, in some aspects, the alert signal generated by theUAV 310 is configured to provide an audible and/or a visual warning tothe users of the electronic devices 170 and/or other people 175 locatedproximate the emergency landing location 125 where the UAV 310 is goingto crash land. In some aspects, the UAV 310 is configured to emit sounds(e.g., variety of tones and/or sirens and/or other non-verbal sounds)that are loud enough for people 175 at the predicted emergency landinglocation 125 to hear well before the UAV 310 crash lands at thepredicted emergency landing location 125, thereby providing such people175 with enough time to escape from the potential casualty radiusassociated with the crash landing of the UAV 310. Instead of, or inaddition to generating sound-based alerts, the UAV 310 is configured, insome embodiments, to generate a visual alert (e.g., flare, smoke,flashing lights, etc.) that would be perceivable by humans at thepredicted emergency landing location 125 (as the UAV 310 is going downbut prior to the crash landing of the UAV 310) without requiringassistance from their personal electronic devices.

In some aspects, the UAV 310 is configured to transmit the crash landingalert to an emergency service computing device (akin to college campusemergency warning systems and/or kidnapped children alert communicationhugs) that is communicatively coupled to informational displays and/orloudspeakers in the predicted emergency landing location 125, therebyenabling the emergency service computing device to either relay thealert received from the UAV 310 to a loudspeaker and/or a visual displayin the predicted emergency landing location 125 in order to warn people175 at that location that a UAV 310 is imminently crashing nearby. Sucha notification may enable the people 175 receiving such a warningpre-crash to escape the casualty radius of the crash and may enable thepeople 175 receiving such a warning post-crash to avoid the UAV 310crash area, thereby facilitating UAV 310 recovery from the predictedemergency landing location 125.

In certain situations, an emergency condition may disable the UAV 310 toa degree where the UAV 310 is unable to transmit any emergency alerts.For example, a collision of the UAV 310 with another UAV may cause suchphysical damage to the UAV 310 that the UAV 310 loses all power and/orthe transceiver 312 is damaged and unable to transmit signals. In suchsituations, the central computing device 150 provides a reserve warningsystem to electronic devices 170 and/or people 175 located in thepredicted emergency landing location 125. In other words, in someembodiments, upon obtaining information indicating that the UAV 310 isunable to send or receive signals, the control circuit 210 of thecomputing device 150 is configured to cause the computing device 150 totransmit an audible and/or visual alert signal to electronic devices 170and/or people 175 located proximate the predicted emergency landinglocation 125, thereby notifying the users of the electronic devices 170and/or other people 175 that the UAV 310 is going to crash at thepredicted emergency landing location 125. To that end, the method 400 ofFIG. 4 includes transmitting, via the computing device 150 and inresponse to a determination by the computing device 150 that the UAV 310is unable to transmit the alert signal, the alert signal to electronicdevices 170 proximate the predicted emergency landing location 125 tonotify users of the electronic devices that the UAV 310 is going toexperience an emergency landing at the predicted emergency landinglocation 125 (step 470).

The systems and methods described herein advantageously provide foremergency alerts that warn users of electronic devices and/or othersthat a UAV is going to experience an emergency landing in a locationwhere the users and/or other people would be within the predictedcasualty radius of the crash landings. In addition, the systems andmethods described herein advantageously provide for post-crash emergencyalerts that may facilitate the recovery of the UAVs from the crashsites. As such, the systems and methods described herein not onlyadvantageously provide an early warning to people, thereby reducingpossible personal injury and/or property damage associated with a UAVcrash landing, but also advantageously provide for post-crash recoveryof the UAV and warn others to avoid the crash area while UAV recoveryand/or crash site cleanup is in progress.

Those skilled in the art will recognize that a wide variety of othermodifications, alterations, and combinations can also be made withrespect to the above described embodiments without departing from thescope of the invention, and that such modifications, alterations, andcombinations are to be viewed as being within the ambit of the inventiveconcept.

What is claimed is:
 1. A system for controlling an unmanned aerialvehicle experiencing an emergency landing and providing an emergencyalert to an area proximate a predicted emergency landing location of theunmanned aerial vehicle, the system comprising: an unmanned aerialvehicle configured to transport at least one product to a deliverydestination via a flight route, the unmanned aerial vehicle including atleast one sensor configured to detect and transmit over a network atleast one status input associated with the unmanned aerial vehicleduring flight along the flight route; a computing device including aprocessor-based control unit and configured for communication with theunmanned aerial vehicle over the network; wherein the unmanned aerialvehicle includes a processor-based control circuit configured to:determine, based on an analysis of the at least one status input, thatthe unmanned aerial vehicle is experiencing an emergency condition thatrequires an emergency landing of the unmanned aerial vehicle; andanalyze the at least one sensor input in order to determine a predictedemergency landing location of the unmanned aerial vehicle; and whereinthe unmanned aerial vehicle is configured to transmit an alert signal toelectronic devices proximate the predicted emergency landing location tonotify users of the electronic devices that the unmanned aerial vehicleis going to experience an emergency landing at the predicted emergencylanding location.
 2. The system of claim 1, wherein the computing deviceis configured to receive, over the network, an electronic signal fromthe unmanned aerial vehicle indicating that the unmanned aerial vehicleis experiencing an emergency condition that requires an emergencylanding of the unmanned aerial vehicle, and including an identificationof the emergency condition.
 3. The system of claim 1, wherein thecontrol circuit of the unmanned aerial vehicle is configured todetermine the predicted emergency landing location of the unmannedaerial vehicle based on an analysis of at least one sensor inputcomprising: global positioning system (GPS) coordinates of the unmannedaerial vehicle; altitude of the unmanned aerial vehicle; speed of theunmanned aerial vehicle; wind speed; weight of the unmanned aerialvehicle; component configuration of the unmanned aerial vehicle; weightof the at least one product; safe landing points along the flight route;topography of the predicted emergency landing location; buildings,trees, power lines, roads, vehicles, and people at the predictedemergency landing location, in-air objects along an emergency descent ofthe unmanned aerial vehicle from the flight route toward the predictedemergency landing location; distance to the in-air objects; angle ofincidence relative to the in-air objects; distance to objects on theground at the predicted emergency landing location; remaining batterylife of the unmanned aerial vehicle; mission status of the unmannedaerial vehicle; RF signal strengths; detectable WiFi networks; and lastcommand received by the unmanned aerial vehicle.
 4. The system of claim1, wherein the at least one sensor comprises an altimeter, velocimeter,thermometer, photocell, battery life sensor, camera, radar, lidar, laserrange finder, and sonar.
 5. The system of claim 1, wherein the controlcircuit of the unmanned aerial vehicle is configured to analyze the atleast one sensor input in order to determine a predicted emergencylanding location resulting from an unguided ballistic trajectory of theunmanned aerial vehicle if the unmanned aerial vehicle loses all powerat a given point along the flight route due to the emergency condition,and a predicted emergency landing location resulting from a computingdevice-guided trajectory of the unmanned aerial vehicle from the givenpoint along the flight route due to the emergency condition.
 6. Thesystem of claim 1, wherein at least one of the unmanned aerial vehicleand the computing device is configured to calculate a predicted casualtyradius within which humans can be injured and property can be damaged bythe emergency landing of the unmanned aerial vehicle.
 7. The system ofclaim 6, wherein the at least one of the unmanned aerial vehicle and thecomputing device is configured to detect at least one of: electronicdevices of humans located within the predicted casualty radius;electronic devices associated with the property located within thepredicted casualty radius; and in-air electronic devices locatedproximate a descent path of the unmanned aerial vehicle from a givenpoint of the flight route where the emergency condition occurred towardthe predicted emergency landing condition.
 8. The system of claim 7,wherein the at least one of the unmanned aerial vehicle and thecomputing device is configured to transmit the alert signal to at leastone of: detected electronic devices of humans located within thepredicted casualty radius; detected electronic devices associated withvehicles located within the predicted casualty radius; detectedelectronic devices associated with privately owned facilities locatedwithin the predicted casualty radius; detected electronic devicesassociated with public facilities located within the predicted casualtyradius; and detected electronic devices associated with in-air objectslocated proximate the descent path of the unmanned aerial vehicle. 9.The system of claim 1, wherein at least one of the unmanned aerialvehicle and the computing device is configured to generate at least oneof an audible alert signal and a visual alert signal configured to beperceived by humans at the predicted emergency landing location withoutassistance from their electronic devices.
 10. The system of claim 1,wherein at least one of the unmanned aerial vehicle and the computingdevice is configured to transmit the alert signal to at least one of aground vehicle, an emergency alert station, and an emergencyalert-generating device, and wherein the at least one of the groundvehicle, emergency alert station, and emergency alert-generating device,after receipt of the alert signal from the computing device, generatesat least one of an audible alert signal and a visual alert signalconfigured to be perceived by humans at the predicted emergency landinglocation without assistance from their electronic devices.
 11. A methodfor controlling an unmanned aerial vehicle experiencing an emergencylanding and providing an emergency alert to an area proximate apredicted emergency landing location of the unmanned aerial vehicle, themethod comprising: providing an unmanned aerial vehicle configured totransport at least one product to a delivery destination via a flightroute, the unmanned aerial vehicle including at least one sensorconfigured to detect and transmit over a network at least one statusinput associated with the unmanned aerial vehicle during flight alongthe flight route; providing a computing device including aprocessor-based control unit and configured for communication with theunmanned aerial vehicle over the network; determining, via the controlcircuit of the unmanned aerial vehicle and based on an analysis of theat least one status input, that the unmanned aerial vehicle isexperiencing an emergency condition that requires an emergency landingof the unmanned aerial vehicle; analyzing, via the control circuit ofthe unmanned aerial vehicle, the at least one sensor input received fromthe unmanned aerial vehicle in order to determine a predicted emergencylanding location of the unmanned aerial vehicle; and transmitting, viathe unmanned aerial vehicle, an alert signal to electronic devicesproximate the predicted emergency landing location to notify users ofthe electronic devices that the unmanned aerial vehicle is going toexperience an emergency landing at the predicted emergency landinglocation.
 12. The method of claim 11, wherein the determining stepfurther comprises receiving, at the computing device and over thenetwork, an electronic signal from the unmanned aerial vehicleindicating that the unmanned aerial vehicle is experiencing an emergencycondition that requires an emergency landing of the unmanned aerialvehicle, and including an identification of the emergency condition. 13.The method of claim 11, wherein the determining step further comprisesdetermining, via control circuit of the unmanned aerial vehicle, thepredicted emergency landing location of the unmanned aerial vehiclebased on at least one sensor input comprising: global positioning system(GPS) coordinates of the unmanned aerial vehicle; altitude of theunmanned aerial vehicle; speed of the unmanned aerial vehicle; windspeed; weight of the unmanned aerial vehicle; component configuration ofthe unmanned aerial vehicle; weight of the at least one product; safelanding points along the flight route; topography of the predictedemergency landing location; buildings, trees, power lines, roads,vehicles, and people at the predicted emergency landing location, in-airobjects along an emergency descent of the unmanned aerial vehicle fromthe flight route toward the predicted emergency landing location;distance to the in-air objects; angle of incidence relative to thein-air objects; distance to objects on the ground at the predictedemergency landing location; remaining battery life of the unmannedaerial vehicle; mission status of the unmanned aerial vehicle; RF signalstrengths; detectable WiFi networks; and last command received by theunmanned aerial vehicle.
 14. The method of claim 11, wherein the atleast one sensor comprises an altimeter, velocimeter, thermometer,photocell, battery life sensor, camera, radar, lidar, laser rangefinder, and sonar.
 15. The method of claim 11, wherein the analyzingstep further comprises analyzing, via the control circuit of theunmanned aerial vehicle, the at least one sensor input in order todetermine a predicted emergency landing location resulting from anunguided ballistic trajectory of the unmanned aerial vehicle if theunmanned aerial vehicle loses all power at a given point along theflight route due to the emergency condition, and a predicted emergencylanding location resulting from a computing device-guided trajectory ofthe unmanned aerial vehicle from the given point along the flight routedue to the emergency condition.
 16. The method of claim 11, wherein theanalyzing step further comprises calculating, via at least one of theunmanned aerial vehicle and the computing device, a predicted casualtyradius within which humans can be injured and property can be damaged bythe emergency landing of the unmanned aerial vehicle.
 17. The method ofclaim 16, further comprising detecting, via the at least one of theunmanned aerial vehicle and the computing device, at least one of:electronic devices of humans located within the predicted casualtyradius; electronic devices associated with the property located withinthe predicted casualty radius; and in-air electronic devices locatedproximate a descent path of the unmanned aerial vehicle from a givenpoint of the flight route where the emergency condition occurred towardthe predicted emergency landing condition.
 18. The method of claim 17,wherein the transmitting step further comprises transmitting, via the atleast one of the unmanned aerial vehicle and the computing device, thealert signal to at least one of: detected electronic devices of humanslocated within the predicted casualty radius; detected electronicdevices associated with vehicles located within the predicted casualtyradius; detected electronic devices associated with privately ownedfacilities located within the predicted casualty radius; detectedelectronic devices associated with public facilities located within thepredicted casualty radius; and detected electronic devices associatedwith in-air objects located proximate the descent path of the unmannedaerial vehicle.
 19. The method of claim 11, wherein the transmittingstep further comprises generating, via at least one of the unmannedaerial vehicle and the computing device, at least one of an audiblealert signal and a visual alert signal configured to be perceived byhumans at the predicted emergency landing location without assistancefrom their electronic devices.
 20. The method of claim 11, wherein thetransmitting step further comprises transmitting, via at least one ofthe unmanned aerial vehicle and the computing device, the alert signalto at least one of a ground vehicle, an emergency alert station, and anemergency alert-generating device, and generating, via the at least oneof the ground vehicle, emergency alert station, and emergencyalert-generating device, at least one of an audible alert signal and avisual alert signal configured to be perceived by humans at thepredicted emergency landing location without assistance from theirelectronic devices.